CN112019290A - Multi-antenna system time synchronization method - Google Patents
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
- H04J3/0644—External master-clock
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
- H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
- H04B7/0413—MIMO systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0682—Clock or time synchronisation in a network by delay compensation, e.g. by compensation of propagation delay or variations thereof, by ranging
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Abstract
The invention discloses a time synchronization method of a multi-antenna system, and aims to provide a time synchronization method capable of effectively improving time synchronization precision. The invention is realized by the following technical scheme: constructing an inquiry node with M antennas and a response node with N antennas in a multi-antenna system, wherein the inquiry node sends M paths of wireless signals through M paths of antennas; the response node detects M multiplied by N message arrival times, selects S arrival time points of the optimal signal message, and returns S arrival time points carrying records in a specified time in a time slot; the inquiry node selects the arrival time of the response message matched with the arrival time of the inquiry message according to the received response message, calculates the time deviation between the inquiry node and the response node according to the arrival time point of the selected inquiry message and the arrival time point of the response message, adjusts the time of the local clock and the inquiry node, and completes the time synchronization between the response node and the members of the inquiry node.
Description
Technical Field
The invention relates to a multi-antenna system time synchronization method which is applied to a time synchronization system among communication members in the field of multi-antenna wireless communication and is used for improving the time synchronization precision.
Background
The time synchronization system is a system which can receive an external time reference signal and output a time synchronization signal and time information outwards according to the required time precision, and can align and synchronize other clocks in a network. To realize the time synchronization system, firstly, a time synchronization protocol is established, including a format for defining the time stamp, a method for transmitting the time stamp and extracting a correction value, and the like, and then, technology implementation based on the protocol, including a time correction technology, a technology for improving synchronization accuracy, and the like, is performed. The multi-antenna technology can fully utilize space resources, increase the effective bandwidth of a wireless channel and greatly improve the capacity of a communication system. The multi-antenna technology is a transmission and reception transmission technology which utilizes airspace resources and improves system performance, and comprises a plurality of antennas at a transmitting end and a plurality of antennas at a receiving end, wherein the transmitting end and the receiving end both use a plurality of antennas, and a plurality of channels are formed between transmitting and receiving. That is, the transmitting end can adopt multiple antennas to transmit signals and the receiving end adopts multiple antennas to receive signals, so as to achieve the purpose of improving the system performance. Using antenna selection techniques, the cost may be reduced while gaining the advantages of a multiple-input multiple-output (MIMO) system. Currently, multiple antenna technology is often used in aeronautical wireless communications. Most communication protocols for multi-antenna systems require time synchronization between the members. In particular, there is a need for a multi-channel wireless mesh MAC protocol based on directional antennas and time synchronization mechanisms. In most multi-antenna systems sharing channels, data packets need to be reordered in the process of interface switching, and other nodes in the wireless receiving range of the two transmitting and receiving nodes cannot concurrently communicate, so that forwarding of multi-hop data packets cannot be effectively supported, and if non-interfering multi-channel transmission is adopted in the WMN, the bandwidth of a network can be improved, but the high-efficiency multi-channel MAC protocol support is also required. When two nodes are communicating, other nodes within effective transmission range of the pair of nodes' wireless signals must delay their communications to avoid collisions. The main drawback of such contention-based distributed MAC protocols is that as the number of active nodes increases, many nodes back off for a short contention window and therefore many retransmission attempts are likely to collide again, thereby prolonging the time for collision resolution, which can result in a significant drop in throughput.
The multi-antenna transmission technology is that a plurality of antennas are used at a sending end and a receiving end to send and receive data. Generally, multi-antenna transmission and reception can provide array gain, diversity gain, spatial multiplexing gain, interference suppression gain. The array gain is that when the transmitting end knows the channel state information, the signal-to-noise ratio of the receiving end is increased by the coherent combining effect of multiple antennas from the transmitting end. Diversity gain is used in wireless channels to combat fading. Spatial diversity is characterized by the number of spatially independent fading branches, known as the multiplicity of spatial diversity, which reduces power fluctuations (or fading) in the receiver. Spatial multiplexing allows a linear increase in transmission rate (or capacity) for the same bandwidth without additional power consumption. The interference suppression capability is due to co-channel interference that occurs in the wireless channel, and when multiple antennas are used, the difference between the resulting spatial signature of the signal and the co-channel signal is used to suppress the interference.
In time synchronization systems between wireless communication members, one channel is often designated as a common channel, the remaining channels are designated as data channels, all nodes exchange control information on the common channel and acquire an available data channel to transmit data in a contention manner, and when the number of used channels is small, exclusively using one common control channel wastes channel resources. Since the backbone node has multiple directional antennas to transmit and receive data simultaneously, if one node uses the same channel to transmit and receive data on different directional antennas, interference between channels is caused, and throughput of each link is reduced. And a plurality of links from one node use the same channel, so as to avoid channel interference, a high requirement is put forward on an antenna, the difficulty of system synchronization is increased, and the cost of the system is increased. When the number of the used channels is large, all the nodes contend for the data channel through a common control channel, so that the control channel becomes a bottleneck, and the channel resources cannot be fully utilized.
The aerial communication system has the advantages that due to the fact that the size of an aircraft is large, antennas are distributed on all parts of the aircraft, due to the fact that the channel of different antennas is caused by the factors such as wiring difference inside the aircraft and difference of radio frequency circuits of the transmitting and receiving front ends, the transmitting and receiving delay time difference of all the antennas is usually in the nanosecond level, and according to the RTT method, if different antennas are adopted for paths of RTT inquiry messages and response messages, the transmitting and receiving delay time difference of the antennas can affect the final time synchronization precision. High-precision time synchronization is the basis of resource sharing, cooperative positioning and cooperative attack and defense of the aviation aircrafts
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a time synchronization method which is suitable for a multi-antenna system and can effectively improve the time synchronization precision.
The above object of the present invention can be achieved by the following measures, a method for time synchronization of a multi-antenna system, having the following technical features: an inquiry node with M antennas and a response node with N antennas are constructed in a multi-antenna system, at least one inquiry node and the response node periodically carry out inquiry message and response message interaction according to a time synchronization method, the inquiry node transmits inquiry messages through the multi-antenna, and the inquiry messages are transmitted through M paths of antennas to generate M paths of wireless signals; the method comprises the steps that N paths of antennae of a response node simultaneously monitor a wireless channel and receive wireless signals, the arrival time TOAI of the signals is measured while inquiry messages are received, the response node detects the arrival time of M multiplied by N messages, S arrival time points of the optimal messages of the signals are selected according to the optimal selection criterion of the signals, the antenna number p of the response node and the antenna number q of the response node corresponding to the time points are recorded, and the response node returns the recorded S arrival time points and the inquiry node corresponding to the time points in a specified time within a time slot after receiving the messagesThe method comprises the steps that response messages of antenna number information and response node antenna number information are transmitted through multiple antennas, an inquiry node receives and detects M multiplied by N arrival time points through the multiple antennas, S inquiry node antenna numbers p and response node antenna numbers q are extracted according to the received response messages, and the arrival time TOAI of the inquiry messages is selected according to the numberspqTime of arrival (TOAR) of matched response messageqpAccording to the selected and extracted inquiry message arrival time point TOAIpqAnd time of arrival (TOAR) of reply messageqpAnd calculating the time deviation between the inquiry node and the response node, and adjusting the time of the local clock and the inquiry node to complete the time synchronization between the response node and the inquiry node members.
Compared with the prior art, the invention has the following beneficial effects.
1) The invention constructs an inquiry node with M antennas and a response node with N antennas in a multi-antenna system, at least one inquiry node and response node periodically carry out inquiry message and response message interaction according to a time synchronization method, the response node and the inquiry stage can detect M multiplied by N message arrival times, S arrival time points of the optimal signal message are selected according to the optimal signal selection criterion, and the proper time points are selected from the multiple arrival time points, so that the influence of the packet loss problem of the inquiry message or the response message caused by space domain interference on time synchronization can be reduced, and the stability of time synchronization is effectively improved.
2) The invention selects and inquires about the time of arrival TOAI of the message according to the numberpqTime of arrival (TOAR) of matched response messageqpAccording to the selected and extracted inquiry message arrival time point TOAIpqAnd time of arrival (TOAR) of reply messageqpThe time deviation between the inquiry node and the response node is calculated, the time of the local clock and the inquiry node is adjusted, the time synchronization between the response node and the inquiry node members is completed, the propagation delay error caused by the difference between the inquiry path and the response path can be eliminated, and the time synchronization precision of the multi-antenna system is improved.
3) The invention constructs an inquiry node with M antennas and a response node with N antennas in a multi-antenna system, wherein M is more than or equal to 1, N is more than or equal to 1, the invention is suitable for the multi-antenna system with any number of antennas, and the invention has good expansibility.
Drawings
FIG. 1 is a schematic diagram of an embodiment of an interaction process of a query message and a response message in accordance with the present invention;
fig. 2 is a schematic diagram of the time synchronization method of the multi-antenna system of the present invention.
In order that the objects, aspects and advantages of the invention will become more apparent, the invention will be described by way of example only, and in connection with the accompanying drawings. It is to be understood that such description is merely illustrative and not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Detailed Description
See fig. 1. According to the invention, an inquiry node with M antennas and a response node with N antennas are constructed in a multi-antenna system, at least one inquiry node and response node periodically carry out inquiry message and response message interaction according to time synchronization, the inquiry node transmits inquiry messages through the multi-antenna and sends the inquiry messages through M paths of antennas to generate M paths of wireless signals; the answering node simultaneously monitors the wireless channel and receives the wireless signal, measures the signal arrival time TOAI while receiving the inquiry message, detects the M multiplied by N message arrival times, selecting S arrival time points of the optimal signal message according to the optimal signal selection criterion, recording the inquiry node antenna number p and the response node antenna number q corresponding to the time points, after receiving the message, the response node returns the response message carrying the recorded S arrival time points and the inquiry node antenna number and the response node antenna number information corresponding to the time points at the appointed time in a time slot, the response message is transmitted by a plurality of antennas, the inquiry node receives and detects M multiplied by N arrival time points by the plurality of antennas, and extracting S inquiry node antenna numbers p and response node antenna numbers q according to the received response message, and selecting the arrival time TOAI of the inquiry message according to the numbers.pqMatched reply message arrivalTime TOARqpAccording to the selected and extracted inquiry message arrival time point TOAIpqAnd time of arrival (TOAR) of reply messageqpAnd calculating the time deviation between the inquiry node and the response node, and adjusting the time of the local clock and the inquiry node to complete the time synchronization between the response node and the inquiry node members.
The method comprises the steps that an inquiry node sends RTT inquiry information in an RTT time slot, a response node receives the inquiry information, then the current time TOAI is input into a round trip timing message (RTT) response packet, the RTT response packet is sent to the inquiry node, the inquiry node calculates the time error (TOAR-TOAI-delta T)/2 of the inquiry node and the response node between two communication members according to the time TOAR of receiving the RTT response packet and the time difference delta T between RTT inquiry and response, the time of the inquiry node is adjusted through a time error adjusting device, and the time synchronization between the response node and the inquiry node members is achieved.
See fig. 2. The enquiring node comprises: a time deviation calculating unit connected with the local clock dynamic adjusting unit, a response message processing unit connected with the time deviation calculating unit, and an inquiry message generating unit cross-connected with the response message processing unit and the antenna 1, 2 … and the antenna M. The answering node comprises: an inquiry message processing unit and a response message generating unit which are connected with the antenna 1, the antenna 2 … and the antenna N in a cross way.
An inquiry message generating unit of an inquiry node generates RTT inquiry messages at RTT time slot inquiry message sending time TOSI, carries out coding modulation processing on the inquiry messages to generate inquiry message waveform signals, then carries out specific processing on the inquiry waveform signals according to antenna numbers m to be sent to distinguish different antenna signals, and adds synchronizing codes SYN before the inquiry message waveform signalsmAnd the generated M paths of inquiry message signals are simultaneously transmitted to a wireless channel through M paths of antennas respectively to generate M paths of wireless signals in a space domain.
The inquiry message includes a frame period number, an inquiry node ID, a response node ID, and the like. The frame period number is a frame period index number of the current inquiry message sent by the node; inquiring the content of the node ID as the node ID; the response node ID is the ID of the waiting time synchronization response node selected by the node.
N paths of antennae of the response node simultaneously monitor a wireless channel and receive wireless signals, an inquiry message processing unit respectively processes the signals sent by the N paths of antennae in the same processing mode, wherein one path of antenna j is taken as an example for explanation, the inquiry message processing unit starts to detect the synchronization codes of the received antenna signals when the local time runs to the starting time of the RTT time slot, and simultaneously detects the SYN of the synchronization codesmPerforming correlation detection, each time one of the synchronization codes SYN is detectediThe time record current time is the arrival time TOAI from the i-path antenna of the inquiry node to the j-path antenna of the response nodeijAnd finishing the arrival time detection when the local time runs to the time TOSI of sending the response message.
The query message processing unit detects the signal quality SQ of a response node antenna j to which a query message sent by a query node antenna i arrivesijThe signal quality detection is performed by using a method in which the value of the detected correlation peak is used as the signal quality at the time of the synchronization code correlation detection, and the signal quality SQ is caused by the influence of the difference of each message path, the interference of the space domain, and the likeijDifferent; the inquiry message processing unit demodulates and decodes the received signal to obtain inquiry message content, analyzes the inquiry message content to judge whether the ID of the response node in the inquiry message content is the same as the ID of the node, if so, the next step of processing is carried out, otherwise, the node discards the inquiry message.
The interrogation message processing unit selects from the detected signal quality SQ a signal quality optimum selection criterionijTo select a signal quality SQ that meets the signal quality optimization criterionpqThe quality optimization criteria include, but are not limited to, the following methods: setting a signal quality threshold SQthComparing all signal quality SQijSum signal quality threshold SQthWhen the detected signal quality is greater than the signal quality threshold SQthWhen large, the signal is a valid signal SQpq。
S SQs are obtained after the query message processing unit selects the optimal signal qualitypqAccording to the selected signal quality SQpqIs selected from the serial numberSame inquiry message arrival time TOAIpqNode antenna number p and answering node antenna number q, and then the query message processing unit will query S selected p, q and TOAIpqAnd sending the response message to a response message generating unit. The response message generating unit generates a response message at the TOSR time of the RTT time slot, wherein the response message comprises a frame period number, an inquiry node ID, a response node ID, an inquiry antenna number p, a response antenna code q and an inquiry message arrival time TOAIpqAnd the like. The frame period number is the frame period number when the node sends the response message, and is the same as the frame period number in the received inquiry message; the content of the inquiry node ID is the inquiry node ID in the received inquiry message; the ID of the response node is the ID of the node; interrogation antenna number p, response antenna code q and interrogation message time of arrival TOAIpqInformation output for the inquiry message processing unit.
The response message generating unit generates a response message waveform signal after coding modulation processing is carried out on the response message, then specific processing is carried out on the response waveform signal according to the antenna number n to be sent so as to distinguish different antenna signals, and a synchronization code SYN is added in front of the response message waveform signalnAnd the generated N paths of response message signals are simultaneously transmitted to a wireless channel through N paths of antennas respectively to generate N paths of wireless signals in a space domain, wherein the N paths of wireless signals correspond to different synchronous codes of different transmitting antenna codes.
M paths of antennas of the inquiry node simultaneously sense a wireless channel and receive wireless signals, the response message processing unit respectively processes the signals sent by the M paths of antennas in the same processing mode, wherein one path of antenna i is taken as an example for explanation,
the response message processing unit operates to the starting time of RTT time slot at local time, detects the synchronous codes of the signals received from the antenna and simultaneously detects N synchronous codes SYNnPerforming correlation detection, when one of the synchronization codes SYN is detectedjThen, the current time is recorded as the arrival time TOAR from the j-path antenna of the response node to the i-path antenna of the inquiry nodejiAnd when the local time runs to the end time of the RTT time slot, ending the arrival time detection.
Response message processingThe unit detects the signal quality SQ of the enquiry node antenna i where the response message sent by the response node antenna j arrivesjiDemodulating and decoding the received signal to obtain response message content, analyzing the response message content, judging whether the ID of the inquiry node in the response message content is the same as the ID of the node, if so, entering the next step of processing, otherwise, discarding the response message by the node; then judging whether the ID of the response node in the content of the response message is the same as the ID of the response node filled when the node generates the inquiry message, if so, entering the next step of processing, otherwise, discarding the response message by the node; and judging whether the frame period number in the response message content is the same as the frame period number filled when the node generates the inquiry message, if so, entering the next step of processing, otherwise, the node discards the response message.
After the response message processing unit judges the response message to be valid through the judgment, S inquiry antenna numbers p, response antenna codes q and inquiry message arrival time TOAI are extracted from the content of the response messagepqFrom the detected TOAR based on the interrogating antenna number p and the responding antenna code qjiSelect a matching time of arrival (TOAR) of the response messageqpIf there are multiple matching time of arrival TOAR of the reply messageqpThen the matched signal quality SQqpThe selection is based on a signal quality optimum selection criterion, which includes, but is not limited to, the following methods: response message processing unit sets a signal quality threshold value SQthComparing all signal qualities SQqpSum signal quality threshold SQthWhen detected signal quality SQqpSpecific signal quality threshold SQthSignal quality SQ with the path signal as valid signal at large timesqp。
The response message processing unit selects the matched TOAI according to the p and q valuespqAnd TOARqpAll valid response messages arrive at the TOARqpAveraging to obtain TOAR, TOAI all valid inquiry messagespqAveraging to obtain TOAI, outputting time of arrival (TOAR) of response message and TOAI of query message to time deviation calculating unit, which calculates time deviation according to responseThe method comprises the steps of obtaining a message arrival time TOAR, an inquiry message arrival time TOAI, a uniformly planned inquiry message sending time TOSI and a response message sending time TOSR, calculating the time deviation (TOAR-TOAI + TOSI-TOSR)/2 of an inquiry node and a response node, and sending time deviation information to a local clock dynamic adjusting unit.
The local clock dynamic adjusting unit completes time synchronization by using the time deviation, updates the local clock according to the time deviation, adjusts the clock forward by the time equal to the clock synchronization adjustment deviation if the clock synchronization adjustment deviation is a positive value, adjusts the clock backward by the time equal to the absolute value of the clock synchronization adjustment deviation if the clock synchronization adjustment deviation is a negative value, and does not perform clock adjustment if the clock synchronization adjustment deviation is zero; or outputs the time offset to the present node.
The foregoing is directed to the preferred embodiment of the present invention and it is noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. Various other modifications and changes may be made by those skilled in the art based on the above-described technical solutions and concepts, and all such modifications and changes should fall within the scope of the claims of the present invention.
Claims (10)
1. A multi-antenna system time synchronization method has the following technical characteristics: an inquiry node with M antennas and a response node with N antennas are constructed in a multi-antenna system, at least one inquiry node and the response node periodically carry out inquiry message and response message interaction according to a time synchronization method, the inquiry node transmits inquiry messages through the multi-antenna, and the inquiry messages are transmitted through M paths of antennas to generate M paths of wireless signals; the N-path antennae of the answering node simultaneously monitor a wireless channel and receive wireless signals, the arrival time TOAI of the signals is measured while the inquiry messages are received, the answering node detects the arrival times of M multiplied by N messages, S arrival time points of the optimal messages of the signals are selected according to the optimal selection criteria of the signals, and the inquiry node corresponding to the time points is recordedThe method comprises the steps that an antenna number p and a response node antenna number q are obtained, after a response node receives a message, a response message carrying recorded S arrival time points and inquiry node antenna numbers and response node antenna number information corresponding to the time points is transmitted back at a specified time in a time slot, the response message is transmitted through multiple antennas, the inquiry node receives and detects M multiplied by N arrival time points through the multiple antennas, the S inquiry node antenna numbers p and the response node antenna numbers q are extracted according to the received response message, and the inquiry message arrival time TOAI is selected according to the numberspqTime of arrival (TOAR) of matched response messageqpBased on the selected time point of arrival TOAI of the inquiry messagepqAnd the time point of arrival (TOAR) of the response messageqpAnd calculating the time deviation between the inquiry node and the response node, and adjusting the time of the local clock and the inquiry node to complete the time synchronization between the response node and the inquiry node members.
2. The multi-antenna system time synchronization method of claim 1, wherein: the method comprises the steps that an inquiry node sends RTT inquiry information in an RTT time slot, a response node receives the inquiry information, then the current time TOAI is input into a round trip timing message (RTT) response packet, the RTT response packet is sent to the inquiry node, the inquiry node calculates the time error (TOAR-TOAI-delta T)/2 of the inquiry node and the response node between two communication members according to the time TOAR of receiving the RTT response packet and the time difference delta T between RTT inquiry and response, the time of the inquiry node is adjusted through a time error adjusting device, and the time synchronization between the response node and the inquiry node members is achieved.
3. The multi-antenna system time synchronization method of claim 1, wherein: the enquiring node comprises: a time deviation calculating unit connected with the local clock dynamic adjusting unit, a response message processing unit connected with the time deviation calculating unit, and an inquiry message generating unit which is connected with the response message processing unit in a cross way and is connected with the antenna 1 and the antenna 2 …; the answering node comprises: an inquiry message processing unit and a response message generating unit which are connected with the antenna 1, the antenna 2 … and the antenna N in a cross way.
4. The multi-antenna system time synchronization method of claim 3, wherein: an inquiry message generating unit generates RTT inquiry messages at RTT time slot inquiry message sending time TOSI, carries out coding modulation processing on the inquiry messages to generate inquiry message waveform signals, then processes the inquiry waveform signals according to antenna numbers m to be sent, distinguishes different antenna signals, and adds synchronous codes SYN before the inquiry message waveform signalsmAnd the generated M paths of inquiry message signals are simultaneously transmitted to a wireless channel through M paths of antennas respectively to generate M paths of wireless signals in a space domain.
5. The multi-antenna system time synchronization method of claim 1, wherein: n paths of antennae of the response node simultaneously monitor a wireless channel and receive wireless signals, an inquiry message processing unit respectively processes the signals sent by the N paths of antennae, the received antenna signals start to be detected by synchronous codes when the local time runs to the starting time of RTT time slot, and the synchronous codes SYN are simultaneously detectedmPerforming correlation detection, each time one of the synchronization codes SYN is detectediThe time record current time is the arrival time TOAI from the i-path antenna of the inquiry node to the j-path antenna of the response nodeijAnd finishing the arrival time detection when the local time runs to the time TOSI of sending the response message.
6. The multi-antenna system time synchronization method of claim 3, wherein: the query message processing unit detects the signal quality SQ of a response node antenna j to which a query message sent by a query node antenna i arrivesijWhen the synchronous code is detected, the signal quality is detected by using the detected correlation peak value as the signal quality, the received signal is demodulated and decoded to obtain the content of the inquiry message, and the content of the inquiry message is analyzed.
7. The multi-antenna system time synchronization method of claim 6, wherein the method further comprises the step of determining a time difference between the received signalsIn the following steps: the interrogation message processing unit selects the criterion from the detected signal quality SQ according to the signal quality optimumijTo select a signal quality SQ that meets the signal quality optimization criterionpqS signal qualities SQ are obtained after the selection of the signal quality is finished optimallypqAccording to the selected signal quality SQpqThe numbers of the inquiry messages select the arrival times TOAI of the inquiry messages with the same numberpqAnd the number p of the inquiring node antenna and the number q of the answering node antenna, and then S selected p, q and TOAIpqAnd sending the response message to a response message generating unit.
8. The multi-antenna system time synchronization method of claim 7, wherein: the response message generating unit generates a response message at the time of TOSR of the RTT time slot, wherein the response message comprises a frame period number, an inquiry node ID, a response node ID, an inquiry antenna number p, a response antenna code q and an inquiry message arrival time TOAIpqThe frame period number is the frame period number when the node sends the response message, and is the same as the frame period number in the received inquiry message; the content of the inquiry node ID is the inquiry node ID in the received inquiry message; the ID of the response node is the ID of the node; interrogation antenna number p, response antenna code q and interrogation message time of arrival TOAIpqInformation output for the inquiry message processing unit.
9. The multi-antenna system time synchronization method of claim 8, wherein: the response message processing unit detects the signal quality SQ of the inquiry node antenna i which is reached by the response message sent by the response node antenna jjiDemodulating and decoding the received signal to obtain response message content, analyzing the response message content, judging whether the ID of the inquiry node in the response message content is the same as the ID of the node, if so, entering the next step of processing, otherwise, discarding the response message by the node; then judging whether the ID of the response node in the content of the response message is the same as the ID of the response node filled when the node generates the inquiry message, if so, entering the next step of processing, otherwise, the node discards the response message and judges that the frame period number in the content of the response message is the same as the frame period numberIf not, the node is the same as the frame period number filled when the node generates the inquiry message, if so, the next step of processing is carried out, otherwise, the node discards the response message.
10. The multi-antenna system time synchronization method of claim 9, wherein: after the response message processing unit judges the response message to be valid, S inquiry antenna numbers p, response antenna codes q and inquiry message arrival time TOAI are extracted from the content of the response messagepqFrom the detected TOAR based on the interrogating antenna number p and the responding antenna code qjiSelect a matching time of arrival (TOAR) of the response messageqpIf there are multiple matching time of arrival TOAR of the reply messageqpThen the matched signal quality SQqpSelecting according to the optimal selection criterion of the signal quality when the detected signal quality SQqpSpecific signal quality threshold SQthSignal quality SQ with the path signal as valid signal at large timesqpSelecting matched TOAI according to p and q valuespqAnd TOARqpAll valid inquiry message arrival times TOAIpqAveraging to obtain TOAI, and making all effective response messages arrive at TOARqpAveraging to obtain the TOAR.
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